One instance of model misspecification of practical interest is when the learner is denied state information that the expert uses. For instance, in self-driving, the human expert has richer context about the scene than the limited perception system of the car. While the standard solution is to add a history of past states and actions to the model, practitioners have often noted that this leads to a “latching effect” where the learner simply repeats the past action. For example,  [1]} note such latching with steering actions,  [2]}, [3]} note this with braking actions, and  [4]} with accelerations. Recent work by [5]} also points out this latching behavior which they term as “self-delusion.”
